cmake_minimum_required(VERSION 3.8)
project(hit_ctrl)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(base_interface REQUIRED)
find_package(Eigen3 REQUIRED)

include_directories(
  include
  ${EIGEN3_INCLUDE_DIRS}
  /usr/include/eigen3/Eigen
  /usr/local/include   #添加这一行，对代码编译后会在该路径下生成所需的头文件
)

add_executable(hit_ctrl src/hit_ctrl.cpp   src/qlearning.cpp      )

target_include_directories(hit_ctrl PUBLIC
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
  $<INSTALL_INTERFACE:include>)

target_compile_features(hit_ctrl PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17

ament_target_dependencies(
  hit_ctrl
  "rclcpp"
  "base_interface"
  "Eigen3"
)

install(TARGETS hit_ctrl
  DESTINATION lib/${PROJECT_NAME})

# install(DIRECTORY include/
#   DESTINATION include/
# )

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()
